Dynamic Modeling And Unmanned Compaction Control Of Single-drum Vibratory Roller Based On Nonholonomic Constraints

As an efficient compaction machine,single-drum vibratory roller is widely used in municipal,transportation,water conservancy and other infrastructure construction.Through the high-frequency vibration of the vibrating steel wheel,the single-drum vibratory roller can improve the compaction of various materials to be pressed,thereby effectively improving the operation quality and service life of the construction project.With the aid of unmanned driving technology,single-drum vibratory roller can adapt to dangerous and harsh working environment,realize unmanned compaction and avoid compaction quality problems and personal property losses caused by human factors.Therefore,it is of great significance to study the unmanned compaction control method for single-drum vibratory roller.In this paper,based on UdwadiaKalaba equation and constrained-following theory,dynamic modeling and compaction control method of unmanned single-drum vibratory roller are studied.Firstly,according to the geometric structure of the single-drum vibratory roller,the kinematics model of the unmanned single-drum vibratory roller is established,and the nonholonomic constraints in the process of its motion are described by mathematical analysis;secondly,the dynamic analysis of each part of the unmanned single-drum vibratory roller is carried out,and the whole dynamic model of the unmanned single-drum vibratory roller is established based on the Udwadia-Kalaba equation;then,considering the uncertainties of the system during compaction operation,the uncertainties mathematical model of the unmanned single-drum vibratory roller is established,and the unmanned compaction controller of the single-drum vibratory roller is designed by using the adaptive robust control method,and the stability of the control system is analyzed by using the boundedness theory;finally,the unmanned compaction control system simulation software of the single-drum vibratory roller is developed based on MATLAB GUI,the proposed algorithm is numerically simulated,and the virtual prototype technology is used to visually display the simulation results.